Stability and Performance Analysis of Control Systems Subject to Bursts of Deadline Misses

Authors Nils Vreman , Anton Cervin , Martina Maggio



PDF
Thumbnail PDF

File

LIPIcs.ECRTS.2021.15.pdf
  • Filesize: 1.06 MB
  • 23 pages

Document Identifiers

Author Details

Nils Vreman
  • Lund University, Department of Automatic Control, Sweden
Anton Cervin
  • Lund University, Department of Automatic Control, Sweden
Martina Maggio
  • Universität des Saarlandes, Department of Computer Science, Saarbrücken, Germany
  • Lund University, Department of Automatic Control, Sweden

Cite AsGet BibTex

Nils Vreman, Anton Cervin, and Martina Maggio. Stability and Performance Analysis of Control Systems Subject to Bursts of Deadline Misses. In 33rd Euromicro Conference on Real-Time Systems (ECRTS 2021). Leibniz International Proceedings in Informatics (LIPIcs), Volume 196, pp. 15:1-15:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2021)
https://doi.org/10.4230/LIPIcs.ECRTS.2021.15

Abstract

Control systems are by design robust to various disturbances, ranging from noise to unmodelled dynamics. Recent work on the weakly hard model - applied to controllers - has shown that control tasks can also be inherently robust to deadline misses. However, existing exact analyses are limited to the stability of the closed-loop system. In this paper we show that stability is important but cannot be the only factor to determine whether the behaviour of a system is acceptable also under deadline misses. We focus on systems that experience bursts of deadline misses and on their recovery to normal operation. We apply the resulting comprehensive analysis (that includes both stability and performance) to a Furuta pendulum, comparing simulated data and data obtained with the real plant. We further evaluate our analysis using a benchmark set composed of 133 systems, which is considered representative of industrial control plants. Our results show the handling of the control signal is an extremely important factor in the performance degradation that the controller experiences - a clear indication that only a stability test does not give enough indication about the robustness to deadline misses.

Subject Classification

ACM Subject Classification
  • Computer systems organization → Embedded and cyber-physical systems
  • Computer systems organization → Real-time systems
  • Computer systems organization → Dependable and fault-tolerant systems and networks
Keywords
  • Fault-Tolerant Control Systems
  • Weakly Hard Task Model

Metrics

  • Access Statistics
  • Total Accesses (updated on a weekly basis)
    0
    PDF Downloads

References

  1. F. Abdi, C. Chen, M. Hasan, S. Liu, S. Mohan, and M. Caccamo. Preserving physical safety under cyber attacks. IEEE Internet of Things Journal, 6(4), 2019. Google Scholar
  2. F. Abdi, R. Mancuso, R. Tabish, and M. Caccamo. Restart-based fault-tolerance: System design and schedulability analysis. In 23rd IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), 2017. Google Scholar
  3. F. Abdi, R. Tabish, M. Rungger, M. Zamani, and M. Caccamo. Application and system-level software fault tolerance through full system restarts. In 8th International Conference on Cyber-Physical Systems (ICCPS), 2017. Google Scholar
  4. L. Ahrendts, S. Quinton, T. Boroske, and R. Ernst. Verifying weakly-hard real-time properties of traffic streams in switched networks. In 30th Euromicro Conference on Real-Time Systems (ECRTS), volume 106 of Leibniz International Proceedings in Informatics (LIPIcs), pages 15:1-15:22. Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2018. Google Scholar
  5. B. Akesson, M. Nasri, G. Nelissen, S. Altmeyer, and R. I. Davis. An empirical survey-based study into industry practice in real-time systems. In 41st IEEE Real-Time Systems Symposium (RTSS), 2020. Google Scholar
  6. S. Altmeyer and R. I. Davis. On the correctness, optimality and precision of static probabilistic timing analysis. In Design, Automation Test in Europe Conference Exhibition (DATE), pages 1-6, 2014. Google Scholar
  7. K. J. Åström and T. Hägglund. Revisiting the Ziegler–-Nichols step response method for PID control. Journal of Process Control, 14(6):635-650, 2004. Google Scholar
  8. K. J. Åström and T. Hägglund. Advanced PID Control. The Instrumentation, Systems and Automation Society, 2006. Google Scholar
  9. K. J. Åström and B. Wittenmark. Computer-Controlled Systems: Theory and Design. Prentice Hall, 3rd edition, 1997. Google Scholar
  10. G. Bernat and A. Burns. Combining binom(n,m)-hard deadlines and dual priority scheduling. In 18th IEEE Real-Time Systems Symposium (RTSS), pages 46-57, 1997. Google Scholar
  11. G. Bernat, A. Burns, and A. Liamosi. Weakly hard real-time systems. IEEE Transactions on Computers, 50:308-321, 2001. Google Scholar
  12. T. Bund and F. Slomka. Controller/platform co-design of networked control systems based on density functions. In 4th ACM SIGBED International Workshop on Design, Modeling, and Evaluation of Cyber-Physical Systems, pages 11-14. ACM, 2014. Google Scholar
  13. T. Bund and F. Slomka. Worst-case performance validation of safety-critical control systems with dropped samples. In 23rd International Conference on Real Time and Networks Systems (RTNS), pages 319-326. ACM, 2015. Google Scholar
  14. G. Buttazzo, M. Velasco, and P. Marti. Quality-of-control management in overloaded real-time systems. IEEE Transactions on Computers, 56(2):253-266, 2007. Google Scholar
  15. M. Caccamo and G. Buttazzo. Exploiting skips in periodic tasks for enhancing aperiodic responsiveness. In 18th IEEE Real-Time Systems Symposium (RTSS), pages 330-339, 1997. Google Scholar
  16. M. Caccamo, G. Buttazzo, and L. Sha. Capacity sharing for overrun control. In 21st IEEE Real-Time Systems Symposium (RTSS), pages 295-304, 2000. Google Scholar
  17. B. S. Cazzolato and Z. Prime. On the dynamics of the Furuta pendulum. Journal of Control Science and Engineering, 2011. Google Scholar
  18. A. Cervin. Analysis of overrun strategies in periodic control tasks. IFAC Proceedings Volumes, 38(1):219-224, 2005. Google Scholar
  19. A. Cervin, P. Pazzaglia, M. Barzegaran, and R. Mahfouzi. Using JitterTime to analyze transient performance in adaptive and reconfigurable control systems. In 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pages 1025-1032, 2019. Google Scholar
  20. A. Chen, Ha. Xiao, A. Haeberlen, and L. T. X. Phan. Fault tolerance and the five-second rule. In Workshop on Hot Topics in Operating Systems (HotOS), 2015. Google Scholar
  21. H. Choi, H. Kim, and Q. Zhu. Job-class-level fixed priority scheduling of weakly-hard real-time systems. In Real-Time and Embedded Technology and Applications Symposium (RTAS), pages 241-253, 2019. Google Scholar
  22. R. I. Davis, L. Santinelli, S. Altmeyer, C. Maiza, and L. Cucu-Grosjean. Analysis of probabilistic cache related pre-emption delays. In 25th Euromicro Conference on Real-Time Systems (ECRTS), pages 168-179, 2013. Google Scholar
  23. D. de Niz, L. Wrage, A. Rowe, and R. Rajkumar. Utility-based resource overbooking for cyber-physical systems. In 19th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), pages 217-226, 2013. Google Scholar
  24. L. Desborough. Increasing customer value of industrial control performance monitoring-honeywell’s experience. Preprints of CPC, pages 153-186, 2001. Google Scholar
  25. R. Ernst, S. Kuntz, S. Quinton, and M. Simons. The logical execution time paradigm: New perspectives for multicore systems. Dagstuhl Reports, 8:122-149, 2018. Google Scholar
  26. G. Frehse, A. Hamann, S. Quinton, and M. Woehrle. Formal analysis of timing effects on closed-loop properties of control software. In 35th IEEE Real-Time Systems Symposium (RTSS), pages 53-62, 2014. Google Scholar
  27. K. Furuta, M. Yamakita, and S Kobayashi. Swing-up control of inverted pendulum using pseudo-state feedback. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 206(4):263-269, 1992. Google Scholar
  28. O. Garpinger and T. Hägglund. Software-based optimal PID design with robustness and noise sensitivity constraints. Journal of Process Control, 33:90-101, 2015. Google Scholar
  29. M. Gaukler, T. Rheinfels, P. Ulbrich, and G. Roppenecker. Convergence rate abstractions for weakly-hard real-time control. arXiv preprint arXiv:1912.09871, 2019. Google Scholar
  30. S. Kumar Ghosh, S. Dey, D. Goswami, D. Mueller-Gritschneder, and S. Chakraborty. Design and validation of fault-tolerant embedded controllers. In Design, Automation & Test in Europe Conference Exhibition (DATE). IEEE, 2018. Google Scholar
  31. D. Goswami, D. Mueller-Gritschneder, T. Basten, U. Schlichtmann, and S. Chakraborty. Fault-tolerant embedded control systems for unreliable hardware. In International Symposium on Integrated Circuits (ISIC). IEEE, 2014. Google Scholar
  32. A. Gujarati, M. Nasri, and B. B. Brandenburg. Quantifying the resiliency of fail-operational real-time networked control systems. In 30th Euromicro Conference on Real-Time Systems (ECRTS), volume 106 of Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2018. Google Scholar
  33. A. Gujarati, M. Nasri, R. Majumdar, and B. B. Brandenburg. From iteration to system failure: Characterizing the fitness of periodic weakly-hard systems. In 31st Euromicro Conference on Real-Time Systems (ECRTS), volume 133 of Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2019. Google Scholar
  34. M. Hamdaoui and P. Ramanathan. A dynamic priority assignment technique for streams with (m,k)-firm deadlines. IEEE Transactions on Computers, 44(12):1443-1451, 1995. Google Scholar
  35. Z. A. H. Hammadeh, R. Ernst, S. Quinton, R. Henia, and L. Rioux. Bounding deadline misses in weakly-hard real-time systems with task dependencies. In Design, Automation & Test in Europe Conference Exhibition (DATE), pages 584-589, 2017. Google Scholar
  36. Z. A. H. Hammadeh, S. Quinton, and R. Ernst. Extending typical worst-case analysis using response-time dependencies to bound deadline misses. In 14th International Conference on Embedded Software (EMSOFT). ACM, 2014. Google Scholar
  37. Z. A. H. Hammadeh, S. Quinton, and R. Ernst. Weakly-hard real-time guarantees for earliest deadline first scheduling of independent tasks. ACM Transactions of Embedded Computing Systems, 18(6), 2019. Google Scholar
  38. Z. A. H. Hammadeh, S. Quinton, M. Panunzio, R. Henia, L. Rioux, and R. Ernst. Budgeting under-specified tasks for weakly-hard real-time systems. In 29th Euromicro Conference on Real-Time Systems (ECRTS), volume 76 of Leibniz International Proceedings in Informatics (LIPIcs), pages 17:1-17:22. Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2017. Google Scholar
  39. M. Hertneck, S. Linsenmayer, and F. Allgöwer. Nonlinear dynamic periodic event-triggered control with robustness to packet loss based on non-monotonic lyapunov functions. In 58th IEEE Conference on Decision and Control (CDC), pages 1680-1685, 2019. Google Scholar
  40. R. Jungers. The Joint Spectral Radius: Theory and Applications. Lecture Notes in Control and Information Sciences. Springer Berlin Heidelberg, 2009. Google Scholar
  41. M. Kauer, D. Soudbakhsh, D. Goswami, S. Chakraborty, and A. M. Annaswamy. Fault-tolerant control synthesis and verification of distributed embedded systems. In Design, Automation & Test in Europe Conference Exhibition (DATE), 2014. Google Scholar
  42. F. Khosravi, M. Glaß, and J. Teich. Automatic reliability analysis in the presence of probabilistic common cause failures. IEEE Transactions on Reliability, 66(2), 2017. Google Scholar
  43. F. Khosravi, M. Müller, M. Glaß, and J. Teich. Uncertainty-aware reliability analysis and optimization. In Design, Automation & Test in Europe Conference & Exhibition (DATE), pages 97-–102, 2015. Google Scholar
  44. C. Kirsch and A. Sokolova. The logical execution time paradigm. In Advances in Real-Time Systems, pages 103-120. Springer Berlin Heidelberg, 2012. Google Scholar
  45. G. Koren and D. Shasha. Skip-Over: algorithms and complexity for overloaded systems that allow skips. In 16th IEEE Real-Time Systems Symposium (RTSS), pages 110-117, 1995. Google Scholar
  46. S. Linsenmayer and F. Allgower. Stabilization of networked control systems with weakly hard real-time dropout description. In 56th IEEE Conference on Decision and Control (CDC), pages 4765-4770, 2017. Google Scholar
  47. S. Linsenmayer, M. Hertneck, and F. Allgower. Linear weakly hard real-time control systems: Time- and event-triggered stabilization. IEEE Transactions on Automatic Control, 2020. Google Scholar
  48. M. Maggio, A. Hamann, E. Mayer-John, and D. Ziegenbein. Control-system stability under consecutive deadline misses constraints. In 32nd Euromicro Conference on Real-Time Systems (ECRTS), Leibniz International Proceedings in Informatics (LIPIcs). Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2020. Google Scholar
  49. D.C. Montgomery. Introduction to Statistical Quality Control. Wiley, 2009. Google Scholar
  50. S. Natarajan, M. Nasri, D. Broman, B. B. Brandenburg, and G. Nelissen. From code to weakly hard constraints: A pragmatic end-to-end toolchain for timed C. In 40th IEEE Real-Time Systems Symposium (RTSS), pages 167-180, 2019. Google Scholar
  51. P. P. O’Connor and A. Kleyner. Practical Reliability Engineering. Wiley Publishing, 5th edition, 2012. Google Scholar
  52. L. Palopoli, L. Abeni, G. Buttazzo, F. Conticelli, and M. Di Natale. Real-time control system analysis: an integrated approach. In 21st IEEE Real-Time Systems Symposium (RTSS), pages 131-140, 2000. Google Scholar
  53. P. Pazzaglia, A. Hamann, D. Ziegenbein, and M. Maggio. Adaptive design of real-time control systems subject to sporadic overruns. In Design, Automation & Test in Europe Conference Exhibition (DATE), 2021. Google Scholar
  54. P. Pazzaglia, C. Mandrioli, M. Maggio, and A. Cervin. DMAC: Deadline-Miss-Aware Control. In 31st Euromicro Conference on Real-Time Systems (ECRTS), volume 133 of Leibniz International Proceedings in Informatics (LIPIcs), pages 1:1-1:24. Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2019. Google Scholar
  55. P. Pazzaglia, L. Pannocchi, A. Biondi, and M. Di Natale. Beyond the weakly hard model: Measuring the performance cost of deadline misses. In 30th Euromicro Conference on Real-Time Systems (ECRTS), volume 106 of Leibniz International Proceedings in Informatics (LIPIcs), pages 10:1-10:22, 2018. Google Scholar
  56. S. Quinton, T. T. Bone, J. Hennig, M. Neukirchner, M. Negrean, and R. Ernst. Typical worst case response-time analysis and its use in automotive network design. In 51st Annual Design Automation Conference (DAC), pages 1-6, New York, NY, USA, 2014. ACM. Google Scholar
  57. P. Ramanathan. Graceful degradation in real-time control applications using (m,k)-firm guarantee. In 27th IEEE International Symposium on Fault Tolerant Computing, pages 132-141, 1997. Google Scholar
  58. L. Schenato. To zero or to hold control inputs with lossy links? IEEE Transactions on Automatic Control, 54(5):1093-1099, 2009. Google Scholar
  59. D. Soudbakhsh, L. T. X. Phan, A. M. Annaswamy, and O. Sokolsky. Co-design of arbitrated network control systems with overrun strategies. IEEE Transactions on Control of Network Systems, 5(1):128-141, 2018. Google Scholar
  60. D. Soudbakhsh, L. T. X. Phan, O. Sokolsky, I. Lee, and A. Annaswamy. Co-design of control and platform with dropped signals. In 4th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), pages 129-140. ACM, 2013. Google Scholar
  61. Y. Sun and M. Di Natale. Weakly hard schedulability analysis for fixed priority scheduling of periodic real-time tasks. ACM Transactions on Embedded Computing Systems, 16(5s), 2017. Google Scholar
  62. G. Vankeerberghen, J. Hendrickx, and R. M. Jungers. JSR: A toolbox to compute the joint spectral radius. In 17th International Conference on Hybrid Systems: Computation and Control (HSCC), pages 151-–156. ACM, 2014. Google Scholar
  63. N. Vreman and C. Mandrioli. Evaluation of burst failure robustness of control systems in the fog. In A. Cervin and Y. Yang, editors, 2nd Workshop on Fog Computing and the IoT (Fog-IoT), volume 80 of OpenAccess Series in Informatics. Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2020. Google Scholar
  64. W. Xu, Z. A. H. Hammadeh, A. Kröller, R. Ernst, and S. Quinton. Improved deadline miss models for real-time systems using typical worst-case analysis. In 27th Euromicro Conference on Real-Time Systems (ECRTS), pages 247-256, 2015. Google Scholar
Questions / Remarks / Feedback
X

Feedback for Dagstuhl Publishing


Thanks for your feedback!

Feedback submitted

Could not send message

Please try again later or send an E-mail